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The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in response to environmental variations. On the other hand, Reinforcement Learning (RL), celebrated for its model-free properties, has gained significant traction in robotics due to its inherent adaptability and robustness. However, initiating traditional RL approaches from the ground up presents computational challenges and a heightened risk of converging to suboptimal local minima. In this paper, we propose an innovative quadruped locomotion framework, SYNLOCO, by synthesizing CPG and RL that can ingeniously integrate the strengths of both methods, enabling the development of a locomotion controller that is both stable and natural. Furthermore, we introduce a set of performance-driven reward metrics that augment the learning of locomotion control. To optimize the learning trajectory of SYNLOCO, a two-phased training strategy is presented. Our empirical evaluation, conducted on a Unitree GO1 robot under varied conditions--including distinct velocities, terrains, and payload capacities--showcases SYNLOCO's ability to produce consistent and clear-footed gaits across diverse scenarios. The developed controller exhibits resilience against substantial parameter variations, underscoring its potential for robust real-world applications.

Skeleton Ground Truth (GT) is critical to the success of supervised skeleton extraction methods, especially with the popularity of deep learning techniques. Furthermore, we see skeleton GTs used not only for training skeleton detectors with Convolutional Neural Networks (CNN) but also for evaluating skeleton-related pruning and matching algorithms. However, most existing shape and image datasets suffer from the lack of skeleton GT and inconsistency of GT standards. As a result, it is difficult to evaluate and reproduce CNN-based skeleton detectors and algorithms on a fair basis. In this paper, we present a heuristic strategy for object skeleton GT extraction in binary shapes and natural images. Our strategy is built on an extended theory of diagnosticity hypothesis, which enables encoding human-in-the-loop GT extraction based on clues from the target's context, simplicity, and completeness. Using this strategy, we developed a tool, SkeView, to generate skeleton GT of 17 existing shape and image datasets. The GTs are then structurally evaluated with representative methods to build viable baselines for fair comparisons. Experiments demonstrate that GTs generated by our strategy yield promising quality with respect to standard consistency, and also provide a balance between simplicity and completeness.

SUPERB was proposed to evaluate the generalizability of self-supervised learning (SSL) speech models across various tasks. However, it incurs high computational costs due to the large datasets and diverse tasks. In this paper, we introduce MiniSUPERB, a lightweight benchmark that efficiently evaluates SSL speech models with comparable results to SUPERB but lower computational costs significantly. We carefully select representative tasks, sample datasets, and extract model representations offline. Our approach achieves a Spearman's rank correlation of 0.954 and 0.982 with SUPERB Paper and SUPERB Challenge, respectively. Additionally, we reduce the computational cost by 97% in terms of Multiply-ACcumulate operations (MACs). Furthermore, we evaluate SSL speech models in few-shot scenarios and observe significant variations in their performance. To our knowledge, this is the first study to examine both the computational cost of the model itself and the cost of evaluating it on a benchmark.

Recently, Generative Diffusion Models (GDMs) have showcased their remarkable capabilities in learning and generating images. A large community of GDMs has naturally emerged, further promoting the diversified applications of GDMs in various fields. However, this unrestricted proliferation has raised serious concerns about copyright protection. For example, artists including painters and photographers are becoming increasingly concerned that GDMs could effortlessly replicate their unique creative works without authorization. In response to these challenges, we introduce a novel watermarking scheme, DiffusionShield, tailored for GDMs. DiffusionShield protects images from copyright infringement by GDMs through encoding the ownership information into an imperceptible watermark and injecting it into the images. Its watermark can be easily learned by GDMs and will be reproduced in their generated images. By detecting the watermark from generated images, copyright infringement can be exposed with evidence. Benefiting from the uniformity of the watermarks and the joint optimization method, DiffusionShield ensures low distortion of the original image, high watermark detection performance, and the ability to embed lengthy messages. We conduct rigorous and comprehensive experiments to show the effectiveness of DiffusionShield in defending against infringement by GDMs and its superiority over traditional watermarking methods.

The Counter Narrative (CN) is a promising approach to combat online hate speech (HS) without infringing on freedom of speech. In recent years, there has been a growing interest in automatically generating CNs using natural language generation techniques. However, current automatic CN generation methods mainly rely on expert-authored datasets for training, which are time-consuming and labor-intensive to acquire. Furthermore, these methods cannot directly obtain and extend counter-knowledge from external statistics, facts, or examples. To address these limitations, we propose Retrieval-Augmented Unsupervised Counter Narrative Generation (RAUCG) to automatically expand external counter-knowledge and map it into CNs in an unsupervised paradigm. Specifically, we first introduce an SSF retrieval method to retrieve counter-knowledge from the multiple perspectives of stance consistency, semantic overlap rate, and fitness for HS. Then we design an energy-based decoding mechanism by quantizing knowledge injection, countering and fluency constraints into differentiable functions, to enable the model to build mappings from counter-knowledge to CNs without expert-authored CN data. Lastly, we comprehensively evaluate model performance in terms of language quality, toxicity, persuasiveness, relevance, and success rate of countering HS, etc. Experimental results show that RAUCG outperforms strong baselines on all metrics and exhibits stronger generalization capabilities, achieving significant improvements of +2.0% in relevance and +4.5% in success rate of countering metrics. Moreover, RAUCG enabled GPT2 to outperform T0 in all metrics, despite the latter being approximately eight times larger than the former. Warning: This paper may contain offensive or upsetting content!

Large Language Models (LLMs) have achieved remarkable success in reasoning tasks with the development of prompting methods. However, existing prompting approaches cannot reuse insights of solving similar problems and suffer from accumulated errors in multi-step reasoning, since they prompt LLMs to reason \textit{from scratch}. To address these issues, we propose \textbf{\textit{Thought Propagation} (TP)}, which explores the analogous problems and leverages their solutions to enhance the complex reasoning ability of LLMs. These analogous problems are related to the input one, with reusable solutions and problem-solving strategies. Thus, it is promising to propagate insights of solving previous analogous problems to inspire new problem-solving. To achieve this, TP first prompts LLMs to propose and solve a set of analogous problems that are related to the input one. Then, TP reuses the results of analogous problems to directly yield a new solution or derive a knowledge-intensive plan for execution to amend the initial solution obtained from scratch. TP is compatible with existing prompting approaches, allowing plug-and-play generalization and enhancement in a wide range of tasks without much labor in task-specific prompt engineering. Experiments across three challenging tasks demonstrate TP enjoys a substantial improvement over the baselines by an average of 12\% absolute increase in finding the optimal solutions in Shortest-path Reasoning, 13\% improvement of human preference in Creative Writing, and 15\% enhancement in the task completion rate of LLM-Agent Planning.

Community Search (CS) is one of the fundamental graph analysis tasks, which is a building block of various real applications. Given any query nodes, CS aims to find cohesive subgraphs that query nodes belong to. Recently, a large number of CS algorithms are designed. These algorithms adopt predefined subgraph patterns to model the communities, which cannot find ground-truth communities that do not have such pre-defined patterns in real-world graphs. Thereby, machine learning (ML) and deep learning (DL) based approaches are proposed to capture flexible community structures by learning from ground-truth communities in a data-driven fashion. These approaches rely on sufficient training data to provide enough generalization for ML models, however, the ground-truth cannot be comprehensively collected beforehand. In this paper, we study ML/DL-based approaches for CS, under the circumstance of small training data. Instead of directly fitting the small data, we extract prior knowledge which is shared across multiple CS tasks via learning a meta model. Each CS task is a graph with several queries that possess corresponding partial ground-truth. The meta model can be swiftly adapted to a task to be predicted by feeding a few task-specific training data. We find that trivially applying multiple classical metalearning algorithms to CS suffers from problems regarding prediction effectiveness, generalization capability and efficiency. To address such problems, we propose a novel meta-learning based framework, Conditional Graph Neural Process (CGNP), to fulfill the prior extraction and adaptation procedure. A meta CGNP model is a task-common node embedding function for clustering, learned by metric-based graph learning, which fully exploits the characteristics of CS. We compare CGNP with CS algorithms and ML baselines on real graphs with ground-truth communities.

Graph Neural Networks (GNNs) have emerged as a powerful representation learning framework for graph-structured data. A key limitation of conventional GNNs is their representation of each node with a singular feature vector, potentially overlooking intricate details about individual node features. Here, we propose an Attention-based Message-Passing layer for GNNs (AMPNet) that encodes individual features per node and models feature-level interactions through cross-node attention during message-passing steps. We demonstrate the abilities of AMPNet through extensive benchmarking on real-world biological systems such as fMRI brain activity recordings and spatial genomic data, improving over existing baselines by 20% on fMRI signal reconstruction, and further improving another 8% with positional embedding added. Finally, we validate the ability of AMPNet to uncover meaningful feature-level interactions through case studies on biological systems. We anticipate that our architecture will be highly applicable to graph-structured data where node entities encompass rich feature-level information.

Large Language Models (LLMs) have the ability to solve a variety of tasks, such as text summarization and mathematical questions, just out of the box, but they are often trained with a single task in mind. Due to high computational costs, the current trend is to use prompt instruction tuning to better adjust monolithic, pretrained LLMs for new -- but often individual -- downstream tasks. Thus, how one would expand prompt tuning to handle -- concomitantly -- heterogeneous tasks and data distributions is a widely open question. To address this gap, we suggest the use of \emph{Mixture of Prompts}, or MoPs, associated with smart gating functionality: the latter -- whose design is one of the contributions of this paper -- can identify relevant skills embedded in different groups of prompts and dynamically assign combined experts (i.e., collection of prompts), based on the target task. Additionally, MoPs are empirically agnostic to any model compression technique applied -- for efficiency reasons -- as well as instruction data source and task composition. In practice, MoPs can simultaneously mitigate prompt training "interference" in multi-task, multi-source scenarios (e.g., task and data heterogeneity across sources), as well as possible implications from model approximations. As a highlight, MoPs manage to decrease final perplexity from $\sim20\%$ up to $\sim70\%$, as compared to baselines, in the federated scenario, and from $\sim 3\%$ up to $\sim30\%$ in the centralized scenario.

Emotion Recognition in Conversation (ERC) plays an important role in driving the development of human-machine interaction. Emotions can exist in multiple modalities, and multimodal ERC mainly faces two problems: (1) the noise problem in the cross-modal information fusion process, and (2) the prediction problem of less sample emotion labels that are semantically similar but different categories. To address these issues and fully utilize the features of each modality, we adopted the following strategies: first, deep emotion cues extraction was performed on modalities with strong representation ability, and feature filters were designed as multimodal prompt information for modalities with weak representation ability. Then, we designed a Multimodal Prompt Transformer (MPT) to perform cross-modal information fusion. MPT embeds multimodal fusion information into each attention layer of the Transformer, allowing prompt information to participate in encoding textual features and being fused with multi-level textual information to obtain better multimodal fusion features. Finally, we used the Hybrid Contrastive Learning (HCL) strategy to optimize the model's ability to handle labels with few samples. This strategy uses unsupervised contrastive learning to improve the representation ability of multimodal fusion and supervised contrastive learning to mine the information of labels with few samples. Experimental results show that our proposed model outperforms state-of-the-art models in ERC on two benchmark datasets.